安装ambf-rl --AMBF(三)

ambf-rl理论上是架在ambf来跑reinforcement learning,但其实我装起来,它并没有呼叫ambf simulator,画面看不到,top也没看到有程序在跑,可能真的需要硬体. 为了装这,我被迫改回Ubuntu 18.04版的.

因为需要一些其他的,网路又太慢,所以我改网路设定

sudo sed -i 's/tw.archive.ubuntu.com/archive.ubuntu.com/g' /etc/apt/source.list 

Ubuntu 18.04一堆没有,别怀疑

sudo apt install build-essential #Ubuntu 18.04一堆没有sudo apt install git  sudo apt install dockersudo apt-get install ubuntu-restricted-extras sudo apt-get install libasound2-devsudo apt-get install clangsudo apt-get install htopsudo apt-get install xorg-devsudo apt-get install python-cv-bridgepython3 -m pip install tomlipython -m pip install -U pippip install --upgrade setuptoolspip3 install --upgrade pip

ambf我是照ambf-rl网页,不是新的ambf 2.0版

source /opt/ros/melodic/setup.bashcd ~/git clone --branch ambf-1.0-python3-fix https://github.com/DhruvKoolRajamani/ambf.gitcd ~/ambfsudo apt-get -y -qq install --fix-missing $(cat install/apt-requirements.txt)cat install/pip-requirements.txt | xargs -n 1 -L 1 pip install -Umkdir build && cd buildcmake ../make -j$(nproc)

然后装ambf_rl

source ~/ambf/build/devel/setup.bashcd ~/git clone https://github.com/WPI-AIM/ambf_rl.gitcd ~/ambf_rlcat install/training-pip-requirements.txt | xargs -n 1 -L 1 pip3 install -U

因为我没有装python venv,所以如果需要,可能要用网页optional部份

mv ~/.local/lib/python3.6/site-packages/stable_baselines/ddpg/ddpg.py ~/.local/lib/python3.6/site-packages/stable_baselines/ddpg/ddpg_old.pycp ~/ambf_rl/install/stable_baseline_fix/ddpg.py ~/.local/lib/python3.6/site-packages/stable_baselines/ddpg/cd ~/ambf_rlsudo python3 setup.py install #python3不是python

执行

cd ~/ambf_rlsource /opt/ros/melodic/setup.bashsource ~/ambf/build/devel/setup.bashcd scripts/dVRK/python main.py

啥事也没发生